CN109373132B - Three-degree-of-freedom motion mechanism - Google Patents
Three-degree-of-freedom motion mechanism Download PDFInfo
- Publication number
- CN109373132B CN109373132B CN201811556209.0A CN201811556209A CN109373132B CN 109373132 B CN109373132 B CN 109373132B CN 201811556209 A CN201811556209 A CN 201811556209A CN 109373132 B CN109373132 B CN 109373132B
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- CN
- China
- Prior art keywords
- guide rail
- pulley
- supporting plate
- rail
- rotating disc
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000078 claw Anatomy 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
Abstract
The invention discloses a three-degree-of-freedom motion mechanism. The three-degree-of-freedom motion mechanism comprises a first guide rail and a second guide rail; the first guide rail can move along the second guide rail, the supporting plate is arranged on the first guide rail, the rotating disk is arranged on the supporting plate, and an anti-falling mechanism for preventing the rotating disk from falling off from the supporting plate when the rotating disk rotates is arranged between the rotating disk and the supporting plate; the two ends of the rotating disc in the diameter direction are provided with a first pulley and a second pulley, and the two ends of the first guide rail are provided with pulley tracks; the first pulley enters the pulley track at the first end of the first rail when the rotating disk moves along the first rail to the first end of the first rail, and the second pulley enters the pulley track at the second end of the first rail when the rotating disk moves along the first rail to the second end of the first rail. The invention can reduce the number of motors as much as possible.
Description
Technical Field
The invention relates to a three-degree-of-freedom motion mechanism.
Background
The traditional three-degree-of-freedom motion of two-direction translation and pivoting requires a fixed rotating shaft for the rotation motion, and a motor is added at the shaft end. The rotation angle is controlled by the rotation direction motor, and the overturning moment is resisted by the locked torque.
The existing three-degree-of-freedom motion of two-direction translation and pivoting requires a fixed shaft, and the existing technology is difficult to implement under the condition that the fixed shaft is inconvenient to arrange or interference exists between the fixed shaft and other parts. The added motors are fixedly connected in the two-axis translation direction, so that the motor cables are difficult to arrange, and the cables are in high risk of dragging and breaking.
In addition, the motor is utilized to generate rotation around the shaft, and the thickness of the motor is increased, so that the three-degree-of-freedom motion mechanism is increased, and the three-degree-of-freedom motion mechanism is not beneficial to being arranged in a compact space.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom motion mechanism, which can arrange three degrees of freedom of two-direction translation and shaftless rotation in a relatively compact space and reduce the number of motors as much as possible.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a three-degree-of-freedom motion mechanism comprises a first guide rail arranged along an X direction and a second guide rail arranged along a Y direction, wherein the X direction is perpendicular to the Y direction and is in a horizontal plane; the first guide rail can move along the second guide rail, the first guide rail is provided with a supporting plate, the supporting plate is provided with a rotating disc, the supporting plate is driven by a first driving device to move along the X direction, and the supporting plate is driven by a second driving device to move along the Y direction; the structure is characterized in that: an anti-drop mechanism for preventing the rotary disk from dropping out of the supporting plate when the rotary disk rotates is arranged between the rotary disk and the supporting plate;
the two ends of the rotating disc in the diameter direction are provided with a first pulley and a second pulley, and the two ends of the first guide rail are provided with pulley tracks which are arranged at an angle with the X direction; the first pulley enters the pulley track at the first end of the first rail when the rotating disk moves along the first rail to the first end of the first rail, and the second pulley enters the pulley track at the second end of the first rail when the rotating disk moves along the first rail to the second end of the first rail.
As an equivalent solution, based on the same inventive concept, the present invention also provides another three-degree-of-freedom motion mechanism, comprising a first guide rail arranged along an X direction and a second guide rail arranged along a Y direction, wherein the X direction is perpendicular to the Y direction and both are in a horizontal plane; the second guide rail can move along the first guide rail; the second guide rail is provided with a supporting plate, the supporting plate is provided with a rotating disc, the supporting plate is driven by a first driving device to move along the X direction, and the supporting plate is driven by a second driving device to move along the Y direction; the structure is characterized in that: an anti-drop mechanism for preventing the rotary disk from dropping out of the supporting plate when the rotary disk rotates is arranged between the rotary disk and the supporting plate;
the two ends of the rotating disc in the diameter direction are provided with a first pulley and a second pulley, and the two ends of the second guide rail are provided with pulley tracks which are arranged at an angle with the Y direction; the first pulley enters the pulley track at the first end of the second rail when the rotating disk moves along the second rail to the first end of the second rail, and the second pulley enters the pulley track at the second end of the second rail when the rotating disk moves along the second rail to the second end of the second rail.
According to the embodiment of the invention, the invention can be further optimized, and the following technical scheme is formed after the optimization:
preferably, the anti-disengaging mechanism comprises a plurality of arc grooves circumferentially arranged on the side surface of the rotating disc and a plurality of arc surface rollers arranged on the supporting plate; the arc grooves of the rotating disc are matched with the arc surface rollers, so that the rotating disc does not deviate from the arc surface rollers when rotating.
In order to prevent the rotating disc from rotating when the rotating disc is not required to rotate, a locking mechanism for keeping the rotating disc in a non-rotating state is further arranged between the rotating disc and the supporting plate. More preferably, the locking mechanism comprises an unlocking block which is arranged on the supporting plate and extends out relative to the supporting plate, and two locking claws are arranged on the unlocking block and can be opened or closed to unlock or lock the rotating disk.
As a relatively common unlocking mode, the end part of the first guide rail or the second guide rail is provided with a supporting cushion block, and when the unlocking block is pressed against the supporting cushion block, two locking claws are opened.
Preferably, the first driving device is a first stepping motor, and the second driving device is a first stepping motor.
In order to reliably drive the pallet to move, the first driving device is connected with the pallet through a first lead screw positioned in a first guide rail; the second driving device is connected with the supporting plate through a second lead screw positioned in the second guide rail.
In order to realize that the rotating disc does not rotate relative to the first guide rail with a fixed shaft, the pulley track at the first end part of the first guide rail and the pulley track at the second end part of the first guide rail are arranged in a splayed shape.
In order to realize that the rotating disc does not rotate relative to the second guide rail with a fixed shaft, the pulley track at the first end part of the second guide rail and the pulley track at the second end part of the second guide rail are arranged in a splayed shape.
By means of the structure, the rotary motion without the fixed shaft is achieved through the cooperation of the arc-section roller and the arc-shaped groove. Meanwhile, through interaction of the first pulley, the second pulley and the pulley track, the rotary motion of the rotary disk is realized by simple translation along the X direction and the Y direction.
The telescopic movement of the locking block of the invention opens and closes the locking pawl, thereby keeping the rotary disk stationary (non-rotated state) and unlocking (rotating).
Compared with the prior art, the invention has the beneficial effects that: for the three-degree-of-freedom motion which is inconvenient to install and fix the rotating shaft, the translation in two directions and the rotation around the axial direction can be realized only by two motors, so that the power and the cable layout are saved, and the locking and the unlocking of the rotating motion are realized through the locking mechanism.
Drawings
FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention (rotating disk locked state);
FIG. 2 is a greatly enlarged view of the pallet and rotating disk and locking mechanism assembly of FIG. 1;
FIG. 3 is a right side view of FIG. 2;
FIG. 4 is a rear view of FIG. 2;
fig. 5 is a schematic view of the structure of the focus-on locking mechanism of the present invention (a rotary disk unlocked state);
FIG. 6 is a schematic view of the structure of the present invention focusing on the anti-drop structure;
FIG. 7 is a state diagram of the present invention with the rotating disk moved to the first end of the first rail;
FIG. 8 is a state diagram of the present invention with the rotating disk moved to the second end of the first rail;
fig. 9 is a structural schematic diagram (rotary disk lock state) of another embodiment of the present invention.
In the drawings
1-a first guide rail; 2-a first stepper motor; 3-a second guide rail; 4-a first lead screw; 5-a guide rail mounting plate; 6-a second lead screw; 7-supporting plates; 8-rotating the disc; 9-a second stepper motor; 10-arc surface rollers; 11-locking claws; 12, unlocking the block; 13-supporting a backing plate; 14-pulley track; 15-a second pulley; 16-first pulley.
Detailed Description
The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are used hereinafter to denote only the directions corresponding to the upper, lower, left, and right directions of the drawings, and do not limit the structure.
Example 1
A three degree of freedom motion mechanism, as shown in fig. 1-8, comprises a first rail 1 disposed along an X-direction and a second rail 3 disposed along a Y-direction, wherein the X-direction is perpendicular to the Y-direction and both are in a horizontal plane. The first guide rail 1 can move along the second guide rail 3, the supporting plate 7 is arranged on the first guide rail 1, the rotating disk 8 is arranged on the supporting plate 7, when the supporting plate 7 is required to move along the X direction, the supporting plate 7 is driven by the first driving device to move along the first guide rail 1, and when the supporting plate 7 is required to move along the Y direction, the supporting plate 7 is driven by the second driving device to move along the second guide rail 3.
For accurate control of the displacement of the pallet, the first driving means is a first stepper motor 2 and the second driving means is a first stepper motor 9. The first drive is connected to the pallet 7 via a first threaded spindle 4 located in the first guide rail 1. The second drive is connected to the pallet 7 via a second threaded spindle 6 located in the second guide rail 3. In operation, as shown in fig. 1, the first stepper motor 2 drives the supporting plate 7 to reciprocate along the first guide rail 1 along the X direction through the second lead screw 6. The second stepping motor 9 drives the supporting plate 7 to reciprocate along the second guide rail 3 along the Y direction through the first lead screw 4.
As shown in fig. 2-4, an anti-falling mechanism for preventing the rotary disk 8 from falling out of the supporting plate 7 when rotating is arranged between the rotary disk 8 and the supporting plate 7. The anti-disengaging mechanism comprises a plurality of arc grooves circumferentially arranged on the side surface of the rotating disc 8 and a plurality of arc surface rollers 10 arranged on the supporting plate 7. The arc grooves of the rotating disc 8 are matched with the arc surface rollers 10, so that the rotating disc 8 does not deviate from the arc surface rollers 10 when rotating.
In this embodiment, as shown in fig. 2-4, a plurality of arc grooves, preferably six arc grooves, are machined on the side surface of the rotating disc 8 along the circumferential direction, a plurality of arc surface rollers 10 are mounted on the supporting plate 7, the cross section of each arc surface roller 10 is in a convex arc shape, and each arc surface roller 10 extends into one arc groove. Six arc-surface rollers 10 are arranged on the pallet 7 at an angle in the circumferential direction. Through the mutual matching between the arc surface roller 10 and the arc groove of the rotary disk 8, the rotary disk 8 can do rotary motion without falling out from the arc surface roller 10.
As shown in fig. 5, a locking mechanism for keeping the rotating disk 8 in a non-rotating state is further provided between the rotating disk 8 and the pallet 7. The locking mechanism comprises an unlocking block 12 which is arranged on the supporting plate 7 and extends out relative to the supporting plate 7, two locking claws 11 are arranged on the unlocking block 12, and the two locking claws 12 can be opened or closed to unlock or lock the rotating disk 8. The end part of the first guide rail 1 or the second guide rail 3 is provided with a supporting cushion block 13, and when the unlocking block 12 is pressed against the supporting cushion block 13, the two locking claws 12 are opened. When in operation, the unlocking block 12 stretches out relative to the supporting plate 7 under the action of the internal spring. The locking pawl 11 is held tightly against the rotary disk 8 inwardly, thereby restricting the rotation of the rotary disk 8. Under the drive of the second stepping motor 9, the guide rail mounting plate 5 moves downwards along the direction of the second guide rail 3, and when the unlocking block 12 contacts the supporting base plate 13, the locking claw 11 starts to open outwards. After continuing the downward movement, the support pad 13 will bear against the unlocking block 12, while the pallet 7 continues the downward movement, and the locking pawl 11 continues to be outwardly opened. When the locking pawl 11 is completely disengaged from the rotary disk 8, the rotary disk 8 can be rotated.
As shown in fig. 5 and 6, a first pulley 16 and a second pulley 15 are mounted at both ends of the rotating disk 8 in the diameter direction, and pulley rails 14 disposed at an angle to the X direction are mounted at both ends of the first rail 1. The first pulley 16 enters the pulley track at the first end of the first rail 1 when the rotating disc 8 is moved along the first rail 1 to the first end of the first rail 1, and the second pulley 16 enters the pulley track at the second end of the first rail 1 when the rotating disc 8 is moved along the first rail 1 to the second end of the first rail 1. In the present embodiment, the pulley rail 14 at the first end of the first rail 1 and the pulley rail at the second end of the first rail 1 are arranged in a splayed manner.
In the present embodiment, as shown in fig. 6, one pulley (a first pulley 16 and a second pulley 15) is provided at each of the diameter positions of the rotating disk 8. The first stepping motor 2 drives the lower plate 7 to move to the left along the first guide rail 1 together with the rotating disk 8. When the first pulley 16 moves tangentially to the inside of the pulley track 14, it will not continue to move to the left, here the left hand rotational position. The pulley track 14 is cut away in fig. 6 to facilitate the display of the internal structure.
In operation, the second stepper motor 9 drives the rail mounting plate 5 upwardly, and the first stepper motor 2 is powered on but does not rotate. The first pulley 16 will move obliquely upward to the right along the inner channel of the pulley track 14, thereby rotating the rotary disk 8 counterclockwise. When the second stepping motor 9 drives the guide rail mounting plate 5 to move downwards, the first pulley 16 moves along the pulley track 14 in the opposite direction, and returns to the initial horizontal state.
Similarly, the first stepping motor 2 drives the lower support plate 7 and the rotary disk 8 to move along the direction of the first guide rail 1 to the right. When the second pulley 15 moves tangentially to the inside of the pulley track 14, it will not be able to continue to move to the right, here the right hand rotational position. The pulley track 14 is cut away in fig. 8 to facilitate the display of the internal structure. The second stepping motor 9 drives the rail mounting plate 5 to move upward, and the first stepping motor 2 is powered on but does not rotate. The second pulley 15 will move obliquely upward to the left along the inner channel of the pulley track 14, thereby driving the rotating disc 8 to rotate clockwise. When the second stepping motor 9 drives the guide rail mounting plate 5 to move downwards, the second pulley 15 moves along the pulley track 14 in the opposite direction, and returns to the initial horizontal state.
Example 2
A three degree of freedom motion mechanism, as shown in fig. 9, includes a first rail 1 disposed along an X direction and a second rail 3 disposed along a Y direction, wherein the X direction is perpendicular to the Y direction and both are in a horizontal plane. The second rail 3 is movable along the first rail 1.
The second guide rail 3 is provided with a supporting plate 7, the supporting plate 7 is provided with a rotating disc 8, when the supporting plate 7 is required to move along the X direction, the first driving device drives the supporting plate 7 to move along the first guide rail 1, and when the supporting plate 7 is required to move along the Y direction, the second driving device drives the supporting plate 7 to move along the second guide rail 3. An anti-falling mechanism for preventing the rotary disk 8 from falling off the supporting plate 7 when rotating is arranged between the rotary disk 8 and the supporting plate 7. The two ends of the rotating disc 8 in the diameter direction are provided with a first pulley 16 and a second pulley 15, and the two ends of the second guide rail 3 are provided with pulley tracks 14 which are arranged at an angle with the Y direction. The first pulley 16 enters the pulley track at the first end of the second guide rail 3 when the rotating disc 8 is moved along the second guide rail 3 to the first end of the second guide rail 3, and the second pulley 16 enters the pulley track at the second end of the second guide rail 3 when the rotating disc 8 is moved along the second guide rail 3 to the second end of the second guide rail 3.
The pulley track 14 at the first end of the second rail 3 and the pulley track at the second end of the second rail 3 are arranged in a splayed manner.
The rest of the structure and the working principle are similar to those of the embodiment 1, and are not repeated.
The foregoing examples are set forth in order to provide a more thorough description of the present invention, and are not intended to limit the scope of the invention, since modifications of the invention in various equivalent forms will occur to those skilled in the art upon reading the present invention, and are within the scope of the invention as defined in the appended claims.
Claims (10)
1. A three-degree-of-freedom motion mechanism, comprising a first guide rail (1) arranged along an X direction and a second guide rail (3) arranged along a Y direction, wherein the X direction is perpendicular to the Y direction and is in a horizontal plane; the first guide rail (1) can move along the second guide rail (3), the first guide rail (1) is provided with a supporting plate (7), the supporting plate (7) is provided with a rotating disc (8), the supporting plate (7) is driven by a first driving device to move along the X direction, and the supporting plate (7) is driven by a second driving device to move along the Y direction; the method is characterized in that:
an anti-falling mechanism for preventing the rotary disc (8) from falling off the supporting plate (7) when the rotary disc (8) rotates is arranged between the rotary disc (8) and the supporting plate (7);
a first pulley (16) and a second pulley (15) are arranged at two ends of the rotating disc (8) in the diameter direction, and pulley tracks (14) which are arranged at an angle with the X direction are arranged at two ends of the first guide rail (1); when the rotating disc (8) moves along the first guide rail (1) to the first end of the first guide rail (1), the first pulley (16) enters a pulley track at the first end of the first guide rail (1);
when the rotating disc (8) moves along the first guide rail (1) to the second end of the first guide rail (1), the second pulley (16) enters the pulley track at the second end of the first guide rail (1).
2. Three degree of freedom movement mechanism according to claim 1, characterized in that the pulley track (14) at the first end of the first rail (1) and the pulley track at the second end of the first rail (1) are arranged in a splayed manner.
3. A three-degree-of-freedom motion mechanism, comprising a first guide rail (1) arranged along an X direction and a second guide rail (3) arranged along a Y direction, wherein the X direction is perpendicular to the Y direction and is in a horizontal plane; the second guide rail (3) can move along the first guide rail (1); the second guide rail (3) is provided with a supporting plate (7), the supporting plate (7) is provided with a rotating disc (8), the supporting plate (7) is driven by a first driving device to move along the X direction, and the supporting plate (7) is driven by a second driving device to move along the Y direction; the method is characterized in that:
an anti-falling mechanism for preventing the rotary disc (8) from falling off the supporting plate (7) when the rotary disc (8) rotates is arranged between the rotary disc (8) and the supporting plate (7);
a first pulley (16) and a second pulley (15) are arranged at two ends of the rotating disc (8) in the diameter direction, and pulley tracks (14) which are arranged at an angle with the Y direction are arranged at two ends of the second guide rail (3); when the rotating disc (8) moves along the second guide rail (3) to the first end of the second guide rail (3), the first pulley (16) enters a pulley track at the first end of the second guide rail (3);
when the rotating disc (8) moves along the second guide rail (3) to the second end of the second guide rail (3), the second pulley (15) enters the pulley track at the second end of the second guide rail (3).
4. A three degree of freedom movement mechanism according to claim 1 or 3, wherein the anti-disengaging mechanism comprises a plurality of circular arc grooves circumferentially arranged on the side surface of the rotating disc (8), and a plurality of circular arc surface rollers (10) mounted on the supporting plate (7); the arc grooves of the rotating disc (8) are matched with the arc surface rollers (10), so that the rotating disc (8) does not deviate from the arc surface rollers (10) when rotating.
5. A three degree of freedom movement mechanism according to claim 1 or 3, characterized in that a locking mechanism for maintaining the non-rotating state of the rotating disc (8) is also provided between the rotating disc (8) and the pallet (7).
6. Three degree of freedom movement mechanism according to claim 5, characterized in that the locking mechanism comprises an unlocking block (12) mounted on the pallet (7) and protruding with respect to the pallet (7), the unlocking block (12) being provided with two locking claws (11), the two locking claws (11) being openable or closable to effect unlocking or locking of the rotary disk (8).
7. The three-degree-of-freedom motion mechanism according to claim 6, wherein the end of the first guide rail (1) or the second guide rail (3) is provided with a supporting cushion block (13), and the unlocking block (12) is pressed against the supporting cushion block (13) to open the two locking claws (11).
8. A three degree of freedom motion mechanism according to claim 1 or 3, characterized in that the first driving means is a first stepper motor (2) and the second driving means is a second stepper motor (9).
9. A three degree of freedom movement mechanism according to claim 1 or 3, characterized in that the first drive means is connected to the pallet (7) by a first screw (4) located in the first guide rail (1); the second driving device is connected with the supporting plate (7) through a second lead screw (6) positioned in the second guide rail (3).
10. A three degree of freedom movement mechanism according to claim 3 wherein the pulley track (14) at the first end of the second rail (3) and the pulley track at the second end of the second rail (3) are arranged in a splayed configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811556209.0A CN109373132B (en) | 2018-12-19 | 2018-12-19 | Three-degree-of-freedom motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811556209.0A CN109373132B (en) | 2018-12-19 | 2018-12-19 | Three-degree-of-freedom motion mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109373132A CN109373132A (en) | 2019-02-22 |
| CN109373132B true CN109373132B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811556209.0A Active CN109373132B (en) | 2018-12-19 | 2018-12-19 | Three-degree-of-freedom motion mechanism |
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| CN (1) | CN109373132B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900256A (en) * | 2012-10-30 | 2013-01-30 | 北京鑫华源机械制造有限责任公司 | Intelligent automobile lengthways handling device |
| CN203162449U (en) * | 2013-02-28 | 2013-08-28 | 中山大山摄影器材有限公司 | Novel camera shooting sliding rail |
| JP2016150390A (en) * | 2015-02-16 | 2016-08-22 | 日特エンジニアリング株式会社 | Pallet carrying device |
| CN105937692A (en) * | 2016-04-26 | 2016-09-14 | 上海颢汉数字技术有限公司 | Multifunctional three-dimensional shooting rack for three-dimensional reconstruction |
| CN209309588U (en) * | 2018-12-19 | 2019-08-27 | 湖南乐准智芯生物科技有限公司 | A kind of three-degree-of-freedom motion mechanism |
-
2018
- 2018-12-19 CN CN201811556209.0A patent/CN109373132B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900256A (en) * | 2012-10-30 | 2013-01-30 | 北京鑫华源机械制造有限责任公司 | Intelligent automobile lengthways handling device |
| CN203162449U (en) * | 2013-02-28 | 2013-08-28 | 中山大山摄影器材有限公司 | Novel camera shooting sliding rail |
| JP2016150390A (en) * | 2015-02-16 | 2016-08-22 | 日特エンジニアリング株式会社 | Pallet carrying device |
| CN105937692A (en) * | 2016-04-26 | 2016-09-14 | 上海颢汉数字技术有限公司 | Multifunctional three-dimensional shooting rack for three-dimensional reconstruction |
| CN209309588U (en) * | 2018-12-19 | 2019-08-27 | 湖南乐准智芯生物科技有限公司 | A kind of three-degree-of-freedom motion mechanism |
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| Publication number | Publication date |
|---|---|
| CN109373132A (en) | 2019-02-22 |
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